Railroad car location, speed, and heading detection system and methods with self-powered wireless sensor nodes

ABSTRACT

A railroad car location, speed and heading sensor system including at least one self-powered, tie-mounted sensor node that is applicable universally to different railroad settings without using track circuits, inductive loops, radar systems, and wheel counters and associated disadvantages. Reliable and relatively low cost deterministic and redundant car presence detection is realized when multiple sensor nodes are arranged in a network, which may be a wireless mesh network, that is not affected by environmental conditions.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application Ser.No. 62/329,366 filed Apr. 29, 2016, the complete disclosure of which ishereby incorporated by reference in its entirety.

BACKGROUND OF THE INVENTION

The field of the invention relates generally to sensor systems andmethodology for detecting position and movement of an object along apath of travel, and more specifically to wireless sensor systems andmethods for detecting railroad car location, speed, and headinginformation in a section of railroad tracks including opposed railssupported by a series of railroad ties.

Railroad transportation systems are in widespread use to safelytransport goods and persons across vast distances in trains operablewith much greater efficiency than other forms of travel. Trainstypically include a connected string of a variety of different types ofrailroad cars and one or more locomotives or engines that pull or propelthe railroad cars along railroad tracks. Railroad cars may be designedand are available for many purposes but generally may be categorized aseither freight cars or passenger cars. Freight cars may include, forexample only boxcars, flatcars, hopper cars and tank cars, and autocarriers. Passenger cars include coach cars, carriage cars, dining cars,lounge cars and sleeping cars. Various different types of such railroadcars (collectively referred to herein as “cars” for the purposes of thepresent disclosure) may be included in any given train.

For a variety of reasons, sensing and detecting a presence of a portionof a train, a railroad car or cars that are disconnected from an engine,or an engine in desired sections of railroad tracks is desired. Knownrailroad detection systems and methods, however, are disadvantaged insome aspects, and improvements are desired.

BRIEF DESCRIPTION OF THE INVENTION

Advantageous embodiments of sensor systems and methods are disclosedthat facilitate train detection, speed detection and heading detectionand information along selected sections of railroad tracks in a reliableyet low cost and flexible manner. The sensor systems may detect apresence, speed and heading information for a train, one or more carsthat are decupled from an engine, or an engine in a selected section oftrack being monitored by the system.

The system may include at least one processor-based sensor node that isconfigured to detect a presence of the train, one or more cars that aredecupled from an engine, or an engine using a number of different typesof detection. Preferably, the system may include a plurality oftie-mounted or rail mounted sealed “hockey-puck” sized sensor modules orsensor nodes attachable to, for example, every n number of railroad tieto define the section of tracks for the purposes of defining andmonitoring one or more protected areas or zones to facilitate safe,effective and productive railcar switching operations, pull-out trackoperations for switched cars, rail crossing operations for multiple setsof intersecting or switched tracks, and rail crossing warning systemoperation for intersections of railroad tracks and roadways forautomotive vehicle use.

The plurality of sensor nodes may wirelessly connect to and communicatewith one another in a mesh network and communicate presence informationto one or more concentrator devices using low power digital radiocommunication techniques and protocols. The concentrator device(s) mayin turn, communicate with a master processor and railroad systems toensure safe, effective and productive use of railroad resources. Thesystem, by virtue of modular sensor nodes and concentrator nodes, mayeasily be scaled to define protection zones of any desired lengthwithout using conventional track circuits and as a result the sensorsystem is generally weather impervious.

Each sensor node may include one or more of a plurality of differenttypes of on-board power supplies for long-life, maintenance freeoperation of the system. The different types of power supplies for eachsensor node may involve, but are not necessarily limited to, one or moreof a battery power supply, a vibration energy harvesting system, astress energy harvesting system, a pressure energy harvesting system, awireless energy transmission harvesting system, a solar energyharvesting system and a capacitive energy storage system. When providedin combination, the plurality of different types of on-board powersupplies may be controlled by power management circuitry in aprioritized power management scheme to limit the use of battery powerand conserve battery power as long as possible to defer maintenance orperformance issues attributable to the battery. Power savingcommunication protocols and techniques, including but not necessarilylimited to time division multiple access (TDMA) communicationsynchronized for ultra-low duty cycle and/or a Time Synchronized MeshProtocol (TSMP), are further utilized to extend battery life andgenerally maintenance free operation of the system.

Multiple and different types of sensing and detecting components,systems and subsystems may be provided in each sensor node to sense anddetect a train, engine, or de-coupled car in the monitored zone. Thecombination of different types of detection realizes a deterministic andredundant system in which error-free detection is possible. Confirmationof detection events by comparing signals or outputs from the varioustypes of sensing elements further facilitates a closed loop feedbackcontrol of railroad switching equipment and other systems as desired.The different types of detection in each sensor node may involve, butare not necessarily limited to, one or more of an inductive sensor, amagnetometer, a vibration sensor, an acoustic sensor, a pressure sensor,a wireless energy harvesting system, a microwave impulse radar sensor,an ultrasonic sensor, and an ambient light sensor. In a particularembodiment, nano-power vibration sensing is utilized to signal that alikely detection event is imminent, and to cause the sensor node to wakeup from a low power sleep state and initiate a low power ultra-wideband,micro power impulse radar function in each sensor node with range gatingto sense the presence of an overhead structure (i.e., a portion of atrain, a car decoupled from an engine, or an engine) located betweenabout 24 inches and about 36 inches above the sensor.

One or more centralized Wi-Fi access points (concentrators) may beprovided in the middle of the section of the track being monitored. Theone or more concentrators may provide RF energy via wireless powertransfer (WPT) to power the ultra-low power function of a group ofsensor nodes. The RF energy may utilize ambient backscattering tocommunicate with adjacent sensor nodes in a peer-to-peer mesh networkconfiguration and/or communicate with the access point(s) to collectdetection information from contiguous sensor nodes at this point todevelop information related to train detection.

The system may beneficially utilize an activation of contiguous nodes toderive train (or train car) speed and heading information, andwirelessly communicate the same to an external system. Health stateinformation may likewise be generated and communicated by the sensornodes for proactive use and management of the system.

BRIEF DESCRIPTION OF THE DRAWINGS

Non-limiting and non-exhaustive embodiments are described with referenceto the following Figures, wherein like reference numerals refer to likeparts throughout the various views unless otherwise specified.

FIG. 1 illustrates an exemplary railroad switchyard including anarrangement of railroad tracks and switches that may benefit from thesensor system and methodology of the present invention.

FIG. 2 illustrates an exemplary diamond crossing of railroad tracks thatmay benefit from the sensor system and methodology of the presentinvention.

FIG. 3 illustrates a first exemplary sensor system for detecting traincar location, speed and heading implementation in a first portion of theswitchyard shown in FIG. 1 or in the crossing of FIG. 2.

FIG. 4 illustrates a second exemplary sensor system for detecting traincar location, speed and heading implemented in a second portion of theswitchyard shown in FIG. 1 or in the crossing of FIG. 2.

FIG. 5 illustrates a third exemplary sensor system for detecting traincar location, speed and heading implemented in a second portion of theswitchyard shown in FIG. 1 or in the crossing of FIG. 2.

FIG. 6 is a block diagram of an exemplary sensor node for the systemsillustrated in FIGS. 3-5.

DETAILED DESCRIPTION OF THE INVENTION

Sensing systems and methods for detecting a presence of a train, or aportion of a train (e.g., an engine or car that is not coupled and partof a train) is desirable in a number of different situations andsettings for railroad operators and entities. In some instances,railroads cars are moved along sections of track while being decoupledfrom an engine. As such, detecting a railroad car location (i.e.physical presence), speed (i.e., velocity) and heading (i.e., directionof travel) is beneficial for safe, effective and productive railroadoperations in a switchyard. Detection of engine location, speed andheading information is likewise beneficial in certain segments orsections of railroad tracks while the engine is in use, but not coupledto a complete set of cars. In still other instances, detection of thetrain (i.e., the engine and its complete set of coupled cars) isdesirably detected along other segments or sections of railroad tracks.

Detection systems and methods exist that may capably sense or detect atrain advancing toward an intersection of a railroad track (or tracks)and a roadway for automotive vehicle use. Such detection systemscommunicate with crossing warning systems to provide visual and/oraudible warnings to vehicle drivers using a roadway that crosses thetrack of the inbound train. In some instances, the crossing warningsystems and methods also involve barrier gates and the like that may beoperated to obstruct the roadway to prevent vehicles from crossing therailroad tracks until the train safely clears the crossing. Suchcrossing warning systems are effective to prevent collisions betweentrains and automotive vehicles, but tend to involve built-in detectioninfrastructure at the crossing site, and as a result tend to be bothexpensive to install and maintain. Lower cost and more reliabledetection systems are desired.

In railroad switch yards where railroad cars are sorted and coupled toone another in a selected order for transport to a desired destination,moving railroad cars that are de-coupled from an engine presents adifferent need for detecting railroad car location, speed and headinginformation, namely to prevent railroad cars from clipping or partlycolliding with one another in the yard, or ensure synchronized operationof track switching equipment with actual movement of the car. Systemsand methods exist for these purposes as well, but are also deficient insome aspects.

At crossings or intersections of multiple train tracks with one another,detecting engine and/or railroad car location, speed and headinginformation is likewise beneficial to ensure that one train does notimpinge upon another at a crossing in an unsafe manner. Providing a lowcost and reliable sensor system for such purposes would be highlydesired.

In order to understand the invention to its fullest extent, a discussionof the state of the art follows with some discussion of problems,deficiencies and disadvantages presented by existing or conventionalsensor systems and methods in railroad applications, followed by adiscussion of exemplary embodiments of the present invention thatbeneficially overcome such problems and disadvantages and meetlongstanding and unfilled needs in the art. Method aspects will be inpart apparent and in part specifically discussed in the followingdescription. Also, while described in the context of railroadapplications, it should be understood that the systems and methodsdescribed herein are applicable to non-railroad applications. That is,the benefits and advantages of the present invention extend generally todetection of sensor systems and methodology for detecting position andmovement of objects other than trains or portions of a train along apath of travel. The exemplary context of railroad applications isaccordingly presented for the sake of illustration rather thanlimitation.

I. State of the Railroad Detection Art

Strings of railroad cars, sometimes referred to as “consists”, areassembled and disassembled, combined and sorted at railroad facilitiescalled switching yards. Switching yards include a number of railroadtracks in close proximity to one another and a number of switches forselectively directing railroad cars from one set of railroad tracks toan adjoining set of railroad tracks. As the consists are arranged orre-arranged on close proximity railroad tracks in a switchyard,detection systems and methods are known that attempt to prevent switchfouling or clipping of cars on the close proximity railroad tracks. Thebasic function and operation of two types of railroad yards, namely FlatYards and Classification Yards, are described below to illustrate theneed and usefulness of the present invention. It shall be understood aswell that the present invention also has applicability to a commonfeature of all railroad switching yards, namely a Pull-Out Track as alsodescribed below.

FIG. 1 illustrates an exemplary flat yard 100 in which consists ofrailroad cars, sometimes referred to as train cars, may be sorted andassembled in a desired order for a particular train. More specifically,FIG. 1 illustrates a process of assembling a consist 102 to define aparticular train with a series of individual cars 104 coupled in apredetermined order and a locomotive 106, sometimes referred to as anengine. The cars 104 may be any of the types of railroad cars mentionedabove or known in the art, and the engine 106 may be one of a variety ofdifferent types of engines (e.g., steam, gas diesel, electric, etc.)known in the art to provide sufficient motive power to move the desirednumber of cars along a railroad track.

Flat yards are somewhat level facilities where a single railroad track108, shown in FIG. 1 and referred to herein as an “entrance track”, canbe connected to any number of an array of additional railroad tracks,sometimes referred to as classification tracks, through a connectortrack 110 and a series of conventional railroad switches. As seen inFIG. 1, ten additional railroad classification tracks are shown incombination with the entrance track 108 and the connector track 110. Theclassification tracks shown in FIG. 1 are designated as 112, 114, 116,118, 120, 122, 124, 126, 128 and 130 (also respectively designated asTrack 1 through Track 10 in FIG. 1) that interconnect to the entrancetrack 108 via nine railroad switches and associated switch zones 132,134, 136, 138, 140, 142, 144, 146 and 148 (respectively designated asSwitch 1, Zone 1 through Switch 9, Zone 9) and sections of the connectortrack 110.

Conventionally, the classification tracks 112, 114, 116, 118, 120, 122,124, 126, 128 and 130 are relatively close to one another in the yard100, such as about 3 m (9.8 ft) apart from one another. While tenclassification tracks and nine switches and switch zones are illustratedin the example yard 100 shown in FIG. 1, it is understood that greateror fewer numbers of classification tracks and switches may be providedin other embodiments. The arrangement of classification tracks andswitches shown in FIG. 1 is sometimes referred to as a “ladder” by thosein the field. Other arrangements of entrance tracks, classificationtracks, and switches are possible, however. The geometry of the yard 100shown in FIG. 1 is provided for the sake of illustration rather thanlimitation.

Each switch 132, 134, 136, 138, 140, 142, 144, 146 and 148 is operablein known manner between a first positon and a second positon to connectthe pair of rails upstream of the switch to a selected one of adifferent pair of rails downstream from the switch. The switches 132,134, 136, 138, 140, 142, 144, 146 and 148 are individually andindependently operable to selectively direct a railroad car 104traveling on the entrance track 108 to one of the tracks 112, 114, 116,118, 120, 122, 124, 126, 128 and 130 in the array by and through anynecessary sections of the connector track 110.

For example, and referring to the example of FIG. 1, the first switch132 in the first position would direct a car 104 traveling on theentrance track 108 to the first track 112 while bypassing the connectortrack 110. In the second position the first switch 132 would direct acar moving from the entrance track 108 to the connecting track 110 andtherefore bypass the first track 112. Likewise, the second switch 134 inthe first position would direct a car 104 traveling on the connectingtrack 110 past the first switch 132 to the second track 114, while inthe second position the second switch 134 would direct the car 104 tobypass the second track 114 and continue on the connecting track 110toward the third switch 136. In the example of FIG. 1 the first, second,and third switches 132, 134, 136 have been activated to keep the car 104moving along the connector track 110 (and past the tracks 112, 114, 116)while the fourth switch 138 has been activated to divert the car 104onto the fourth track 118 where the consist 102 is being assembled.

It should be evident that the remaining switches 140, 142, 144, 146 and148 can be activated to direct a car 104 past the respective tracks 120,122, 124, 126, 128 and continue on the connector track 110 or insteaddirect the car 104 onto one of the tracks 120, 122, 124, 126, 128. Theprocess of directing cars 104 through the array of tracks to a desiredtrack is sometimes referred to as “switching” the cars 104, and a car104 that has been directed to the proper one of the classificationtracks 112, 114, 116, 118, 120, 122, 124, 126, 128 and 130 viaappropriate operation of the switches 132, 134, 136, 138, 140, 142, 144,146 and 148 is sometimes referred to as a “switched” car.

By aligning each of the switches 132, 134, 136, 138, 140, 142, 144, 146and 148 to either of the two positions to connect the desired set oftracks, a car 104 that is moving from the single entrance track 108 canbe routed to any of the track lengths 112, 114, 116, 118, 120, 122, 124,126, 128 and 130 in the ladder. Typically, a switching engine 106 willpush a single car 104 or a short string of cars 104 (e.g., two to fivecars 104) down the single entrance track 108 and a yard worker willuncouple the car(s) 104 from the engine 106 at a point where it isestimated to have sufficient velocity to reach the desiredclassification track to start a consist, or to reach the desiredclassification track where a partial consist 102 exists (i.e., anaccumulation of previously switched cars 104 such as in the consist 102shown in FIG. 1). When the switched car(s) 104 reaches the partialconsist 102 the coupling mechanism on the switched car 104 engages thecoupling mechanism of the leading end of the last car 104 in theaccumulation of the partial consist 102, physically adding the car 104(or cars 104) to the growing consist 102. Further cars may be switchedand added to the consist 102 in a similar manner. As such, the number ofcars 104 in the consist 102 can successively grow until a desired numberof cars 104 in a desired order are assembled on the respectiveclassification track.

As seen in FIG. 1, the partial consist 102 is shown to include threepreviously switched cars, with the presently switched car 104 about tobecome the fourth car in the consist 102 on the fourth classificationtrack 118. A consist of cars 104 may similarly be formed on any otherone of the nine classification tracks 112, 114, 116, 120, 122, 124, 126,128 and 130 in the ladder each having a desired selection and order ofcars 104, with each car or group of cars being directed to the desiredtrack in the ladder. Multiple consists may be assembled on the variousclassification tracks 112, 114, 116, 118, 120, 122, 124, 126, 128 and130 with switched cars 104, with the consists formed eventually beinglinked to define a train having a larger number of cars than anyindividual consist formed on the ladder.

Once each car 104 being switched has navigated its way through the arrayof switches 132, 134, 136, 138, 140, 142, 144, 146 and 148 andclassification tracks 112, 114, 116, 118, 120, 122, 124, 126, 128 and130 to the desired consist on the proper classification track, theswitch alignments may then be altered in preparation for the next car(or cars) introduced by the engine 106 for switching to the same consistor another consist on a selected one of the tracks. That is,successively switch cars 104 may be directed to the same consist as theprevious car or to another consist as the previously switched car 104.Since the classification tracks 112, 114, 116, 118, 120, 122, 124, 126,128 and 130 are different in length, larger consists may be formed onsome of the classification tracks 112, 114, 116, 118, 120, 122, 124,126, 128 and 130 than on others. At the end of this sorting process viaswitching of the cars 104 to assemble consists 102, an engine 106 maythen pull the consists 102 out of the yard in which they have beenbuilt, with the consists linked as desired to complete a larger train.Once completed, the train may leave the yard 100 with all its desiredcars 104 for travel to a distant destination. At the distantdestination, another disassembly/reassembly process of car sorting maybe repeated until each car 104 is eventually delivered to its finaldestination.

For maximum productivity it is important that the time between each car104 moving down and switched through the ladder of the flat yard 100 beminimized. That is, in order to maximize the number of cars 104 switchedper hour, shift, or day the time between successive car switching shouldbe as small as possible. Accordingly, the ordering of switched cars104 - the order in which they are sorted and to which classificationtrack 112, 114, 116, 118, 120, 122, 124, 126, 128 or 130 in the ladderthey are routed—is generally an automated process where a computerizedsystem, database, and control system (referred to herein as a yardcontrol system 150) aligns the array of yard switches 132, 134, 136,138, 140, 142, 144, 146 and 148 in preparation for each successive car104 (or short string of cars 104) introduced on the entrance track 108.The construction and operation of the yard control system 150 is itselfwell known and not further described herein.

In a conventional manner, the yard control system 150 communicates withpowered mechanisms that move the respective switches 132, 134, 136, 138,140, 142, 144, 146 and 148 from one position, or alignment, to another.However, if any of the switches 132, 134, 136, 138, 140, 142, 144, 146and 148 are instructed to change position prematurely, prior to thepoint where the currently switched car 104 is fully clear of theswitching mechanism, a switch fouling condition can occur as the switchattempts to change position while the wheels of the switched car 104 arestill within the switch assembly. Switch fouling not only delays thefurther switching of cars 104 until resolved, but it can damage theswitch, the track, and the car's wheels. Worse, switch fouling canderail the car 104 being switched, bringing all switching activity inthe classification yard 100 to a halt until the derailed car can berighted or returned to a proper track footing, and any consequentialdamage can be appropriately repaired or mitigated.

To avoid switch fouling, each switch 132, 134, 136, 138, 140, 142, 144,146 and 148 demands a protected area or zone for switching operations ofcars 104. Each protected area is defined by short distances upstream anddownstream of each switch location where the presence of a car 104 istoo close to the switch from which the adjoining tracks diverge.Referring to FIG. 1, if the switched car 104 is too close to the switch138, at a point where the distance between the tracks 110 and 118 hasnot sufficiently widened, then the next car to move through the switch138 to the adjacent track can clip the corner of the car 104. Incontemplated embodiments, the entire protected area, or zone, for eachswitch may range between 50 feet and 200 feet in length.

To help prevent switch fouling in the yard 100 as cars 104 are switched,a number of techniques have been conventionally been used to sense anddetect cars 104 that are in a protected switch area and may foul theswitch if a change of position is attempted by the yard control system150. For example, conventional inductive loop sensing systems have beenused for such purposes, but inductive loops are relatively expensive andsubject to damage and reliability issues due to their typical mountingto the tops of railroad ties along each track. The ladder arrangement ofthe tracks such as in the example shown in FIG. 1 also presents extremelength and geometric complexity for outfitting switch assemblies andtrack with inductive loops. Inductive loop sensors are accordingly not apractical or economical solution to the problems presented.

Wheel counters are sometimes also conventionally used to prevent switchfouling of cars in the yard 100. For instance, non-mechanicalhall-effect sensors may be utilized to detect rotations of the wheels ona car 104 as it is being switched, and from the detected wheel rotationsthe location of the car 104 may be inferred by the switchyard controlsystem 150. However, wheel counter solutions rely on acount-in/count-out technique for interpolating whether a car 104 stillremains in the switch's protected area. If detections of wheel rotationsare missed or aliased, the rotation count can be off and the counters,if not the entire yard control system 150, must be manually reset torestore proper operation.

In view of the shortcomings of inductive loops and wheel counters,conventional track circuits are most typically utilized to detect carsin a conventional manner within a switch's protected area. Trackcircuits are low power DC circuits established through the opposed railsof the track sections in the protected area of each switch. The trackcircuit is shorted when the metallic wheels of a car 104 are in contactwith both rails (typically steel rails) in the section of track. With nocar 104 present, the DC potential imposed on the two rails is sufficientto energize a mechanical relay or its electronic equivalent. Whenshunted by the conductive wheels of a car 104 passing over the rails inthe track circuit, the majority of the current from the rail potentialflows through the wheels leaving insufficient current to keep the relayenergized. The de-energized relay closes normally-closed contacts,signaling the presence of the car 104 in that section of the track.

Track circuits, however, also suffer from several disadvantages.Insulators must be installed on the rails to define and separatesections of track that are deemed protected areas for the switches.Besides weakening the rail structures, track circuit insulators can becompromised by conductive contaminants (grease, dust, metal shavings,organic matter, and moisture) that establish low resistance paths acrossthe ¼ inch to ½ inch insulator gaps that electrically isolate contiguousrails from one another. When the rails are partially shorted by theseconductive contaminants or elements, the track circuits no longeroperate and sensitivity settings must be readjusted to re-establishrelay energize/de-energize thresholds.

During or after periods of heavy rain, water accumulation interactingwith other contaminants beneath the rails can create a conductive pathbetween the rails, thereby disabling the track circuit functionaltogether. To compensate, yard personnel must continually adjust theamplitude and sensitivity of the track circuit components to overcomethe varying conductivity of this moisture-induced phenomena. Thisrepeated, time-consuming process itself lowers productivity in the yard100, sometimes causing yard personnel to resort to more manual methodsof operation involving additional manpower to complete the switching ofcars.

To summarize, in a flat yard 100 where cars 104 are pushed or shovedinto various classification tracks 112, 114, 116, 118, 120, 122, 124,126, 128 and 130 for assembling into consists 102, efficient andproductive classification depends on effective car detection to preventswitch fouling or clipping of cars in close proximity on tracksdiverging out of a switch. Current detection techniques utilizing trackcircuits suffer from performance loss due to moisture and contaminantsthat disrupt DC voltages applied to the tracks. Wheel counter and othertechniques are not optimum due to non-deterministic methods that relyupon interpolation rather than absolute detection of car presence. Lowerthroughput and productivity as well as elevated labor costs are thetypical consequence of a temporary loss of car presence detection,despite the cause or technology utilized.

Classification Yards, sometimes called “hump yards”, are similar to flatyards such as the yard 100 in layout but use elevation and gravity as ameans of moving cars 104 into particular consists 102 in a track ladderconfiguration. In hump yards, a yard engine 106 pushes cars 104 or shortstrings of cars 104 over a slight hill at the entrance track 108. Whenthe car(s) 104 are released from the engine 106, the car(s) 104accelerate as they travel downhill towards the array of switches andclassification tracks. As such, the car(s) 104 generally enter theladder at a higher speed than in a flat yard. To prevent excessivespeeds of car(s) 104, one or more retarders are positioned on theentrance track 108 to slow the car 104 being classified to a desiredspeed to complete the car switching operation.

Retarders are generally pneumatically activated linear brakes that areactivated through a series of pulsed applications by the yard controlsystem 150. These retarders apply pressure to the wheels of a rollingcar 104 to retard or slow the velocity of the car 104. The number andduration of pulsed applications of pressure by the retarders reduces andregulates the speed of the cars 104 moving through the switches to thedesired classification track. The desired speed to be obtained via theretarders is typically calculated based on a variety of parametersincluding, but not limited to, car weight (including cargo), wheelcondition based on information retrieved from a car database, distanceto be traveled to connect to a consist being assembled on the properclassification track, and environmental conditions. Of course, in orderto operate the retarders effectively, the speed or velocity of the car104 must be detected and input to the yard control system 150.

Speed detection for dynamically operating the retarders is typicallyaccomplished using techniques such as K-Band Doppler radar. The radarequipment to accomplish speed detection typically must be placed inrelatively close proximity to the tracks to assess a speed of a movingcar 104. Unfortunately, however, because of its proximity to the tracks,and also the relative close spacing of the tracks in the ladder, theradar equipment is vulnerable to damage in the normal course of yardoperation, presenting maintenance and reliability issues that negativelyimpact productivity of the yard and increase the costs of operating theyard. Car presence detection for preventing switch fouling in thisapplication is similar to Flat Yard applications and is provided bytrack circuits, wheel counters or exposed presence detection loops.Consequently, the same problems discussed above are introduced by thesedetection technologies—environmental susceptibility, high maintenance,and inaccuracies due to lack of redundancy and non-deterministicdetection methods.

In most switch yards, whether flat or not, a long, relatively straighttrack is provided as a common exit track for a completed consist 102.The exit track is sometimes referred to as a Pull-Out track. ThePull-Out track may coincide with the entrance track 108 or be separatelyprovided. When an engine 106 connects to the string of cars in theconsist 102 and pulls it out of the yard 100 to the Pull-Out track, itis important that no other cars 104 residing on the adjacentclassification tracks in close proximity to the switches that areconnected to and feed that Pull-Out track are close enough to be“clipped” by the long string of cars being moved. Similar protectionareas and detection zone challenges to those discussed above exist forthe Pull-Out track, across even greater distances.

Aside from classification yards discussed above, and as shown in FIG. 2,a diamond crossing 160 (sometimes referred to as a crossover) is shownwhere railroad train tracks cross or intersect one another. While in theexample of FIG. 2, a first track 162 is shown to cross a second track164 at an exemplary angle, resulting in a diamond shaped intersection166 wherein the tracks 162, 164 converge and intersect. Considerablevariations of crossovers are possible including different angles andhence elongated diamonds, as well as additional numbers of tracks, butnonetheless being conceptually similar to allow a train on one railroadtrack to cross at least one other railroad. Regardless, such crossoversmay benefit from railroad car detection for similar reasons to thosedescribed above. A car similar to the car 104 (FIG. 1) or even an engine106 (FIG. 1) on one track (e.g., the track 162) may be too close to thediamond 166 for a train on the other track (e.g. track 164) to safelypass without colliding with it. Inductive loops and radar have been usedwith varying degrees of success for car/engine presence detecting insuch circumstances, but still suffer from the problems discussed above.Unlike the previous examples, diamond crossings cannot accommodate trackcircuit-based engine/car/train detection for such purposes. Due to trainoccupancy signal issues, “dead sections” may extend for 100 feet or morein each direction on every track converging on the diamond when a trainis present at the diamond.

Switched crossing of tracks also present similar issues to thosediscussed above. For example, and assuming a different angle of approachthan shown in FIG. 2, a train traveling on the track 162 may eithercontinue on the track 162 and cross the track 164 or may be switched tothe continue on the track 164 using a conventional railroad switch asdescribed above. Ensuring the proper clearance for the train as itswitched from one track to the other in a protected zone or area may bedesirable. Those in the art will undoubtedly realize that complicatedrailroad crossing and switching arrangements exist that may presentsimilar concerns to those discussed above.

A low maintenance system and method that can provide a deterministic andredundant train/engine/car presence detection that is universallyapplicable to a variety of different railroad settings and that is notaffected by environmental conditions would be an improvement overcurrently used systems and methods such as those described above.

II. Presence Detection Systems and Methods of the Invention

Exemplary embodiments of a self-powered, tie-mounted sensor nodes andmesh network communicating to a local networked concentrator via ambientbackscattering communications and wireless power transfer, as describedbelow, provides an improved system and method of detecting trains onshort sections of track that is applicable universally to theapplications discussed above, without using track circuits and whileavoiding the issues of inductive loops, radar systems and wheelcounters. Reliable and relatively low cost deterministic and redundantcar presence detection is realized that is not affected by environmentalconditions. Advantageously, improved efficiency and productivity ofrailroad operations is also realized to meet longstanding andunfulfilled needs in the art for more effective and productive use ofrailroad resources.

As shown in the examples of FIGS. 3-5 a system 200 is envisionedincluding a contiguous series of self-powered, ultra-low power, orenergy harvesting sensor node devices 202 that detect a presence of acar 104 (or engine 106) in a section of track and communicate suchdetection using “mesh” or “swarm” networking techniques, to relaypresence information of a car 104 from a collection of railroad ties 204supporting the opposed rails 206 in a track section. The track sectionmay relate to presence detection in the flat yard 100 (FIG. 1), aclassification yard similar to the flat yard 100 as discussed above, aPull-Out track, a diamond crossover or switched track arrangementoutside of a yard, an intersection of railroad tracks with a roadway forautomotive use, or other railroad application. In the example shown inFIG. 3, the sensor node devices 202 are provided on every other railroadtie 204, while alternatively they could be placed on every second, thirdor fourth railroad tie 204 in other embodiments. A number n of sensornodes 202 may be used on a number n of railroad ties to define aprotection zone of a desired length and commensurate section of track inwhich train, railroad car, or engine presence may be sensed. Multipleprotection zones may be defined having different groups of sensor nodes202, such as in the yard application having a ladder configuration oftracks shown in FIG. 1.

The system 200 further includes periodically placed concentrator nodes208, 210, 212 that receive and collect information from a group ofsensor nodes 202, providing explicit and implicit detection informationfrom which a Master Processor 214 can derive detection, speed, andheading information from all protected areas or zones within the yard100. This information may then be used to inform the yard control system150 of car locations and exact speeds in order to optimize yard trafficand classification productivity, without the negative consequences ofconventional techniques as described above. A number n of concentratornodes (typically less than the number n of sensor nodes in each zone)may communicate with the same sensor nodes in the same protection areaor zone, or with multiple sensor nodes in different protection areas orzones. The number of sensor nodes and concentrator nodes is scalable toaccommodate any desired number of protection zones.

Using near-field mesh networked wireless communication and synchronizedtime division multiplexing, the duty cycle associated with communicatingcar presence information by the system 200 is sufficiently low that avariety of self-powered or ultra-low powered techniques may be utilizedfor the sensor nodes 202 and/or the concentrator nodes 208, 210, 212.Because each sensor node 202 communicates information primarily onlywhen a car 104 is detected, and does so in a manner whereby multiplenodes 202 receive and re-broadcast each information packet, a high levelof redundancy is achieved that increases system reliability. Asdescribed below, aside from train/engine/car presence information,health information from each node may also be periodically communicatedto ensure system reliability.

The system 200 will now be explained in further detail illustratingexemplary components and methods that advantageously overcome theproblems and disadvantages of conventional engine/car detection systemsand methodology.

FIG. 6 is a schematic diagram of an exemplary sensor node 202 for thesystem 200 that is configured to detect railroad engine/car presence andcommunicate data to a concentrator using wireless transmissiontechniques. The sensor node 202, in combination with other sensor nodesand concentrators, may be used to establish a multi-path, wireless datacommunications network for detecting and communicating railroadengine/car presence, speed and heading information to an external systemfor the applications described above. More specifically, and asexplained below, the sensor node 202 is a radio device that, incombination with other similar devices, may be used to establish amulti-path, wireless data communications network using mesh or swarmnetworking techniques. It is recognized, however, that in an alternativeembodiment a wired communication network may be utilized, albeit withgreater expense and without realizing the full benefit of the system200.

In the example shown, the sensor node 202 is a programmableprocessor-based device including a processor 252 and a memory storage254 wherein executable instructions, commands, and control algorithms,as well as other data and information such as communication network andprotocol parameters required to satisfactorily operate the sensor node202 are stored. The memory 254 of the processor-based device may be, forexample, a random access memory (RAM), and other forms of memory used inconjunction with RAM memory, including but not limited to flash memory(FLASH), programmable read only memory (PROM), and electronicallyerasable programmable read only memory (EEPROM).

As used herein, the term “processor-based device” shall refer to devicesincluding a processor or microprocessor as shown for controlling thefunctionality of the device, but also other equivalent elements such as,microcontrollers, microcomputers, programmable logic controllers,reduced instruction set (RISC) circuits, application specific integratedcircuits and other programmable circuits, logic circuits, equivalentsthereof, and any other circuit or processor capable of executing thefunctions described below. The processor-based devices listed above areexemplary only, and are thus not intended to limit in any way thedefinition and/or meaning of the term “processor-based device.”

The sensor node 202 also includes a radio transmission element 256 thatmay include a transmitter 258 and a receiver 260. The transmitter 258and receiver 260 may be separately provided from one another, oralternatively may be combined into a single device referred to as atransceiver. The radio transmission element 256 sends and receiveswireless data signals using known radio frequency transmissiontechniques. The data and information communicated with the radiotransmission element 256 may be processed, formatted or converted intoan appropriate communications protocol by the processor 252 utilizinginformation stored in the memory 254. For example, digital radiofrequency signals may be transmitted and received using a specifiedprotocol for the contents of the data messages sent by the node 202.Parameters for network communication may include data and informationsuch as the size (i.e., the number of bits) of the data signalstransmitted, the order of bits constituting the message, unique radioidentifiers, hardware and software version codes, security codes,diagnostic codes and the like as those in the art will appreciate.

Additionally, desirable signal processing such as amplification,filtering, signal conversion (e.g., digital to analog conversion), anddiagnostic procedures may be performed. Algorithms and instructions forexecuting specific communication protocols and procedures are stored inthe memory 254, for example, and executed by the processor 252 tocommunicate information over a communication network including othersensor nodes 202 and concentrators 208, 210, 212. On this note, theconcentrators 208, 210 and 212 in contemplated embodiments may beprocessor-based devices constructed similarly to the sensor node 202 butare provided to receive communicated messages from the sensor nodes 202and forward them to the master processor 214 instead of detectingengine/car presence and generating messages relating to the detectedpresence as the sensor nodes 202 are designed to operate.

The radio device transmission element 256 in the sensor node 202 may beconfigured as a short range radio for communication over relativelyshort distances. When configured as a short range radio, the sensor node252 may be adequately powered by an on-board power supply 262.Preferably, the on-board power supply 262 includes a plurality ofdifferent power sources operable individually and in combination bypower management circuitry. In contemplated examples, the on-board powersupply 262 includes including a battery power storage element 264, avibration energy harvesting element 266, a stress energy harvestingelement 268, a pressure harvesting element 270, a wireless powerharvesting element 272, a solar assisted power element 274, and at leastone other energy storage element 276. The various power sources 264,266, 268, 270, 272, 274 and 276 facilitate a low-maintenance,self-configuring, and self-powering sensor node 202 that is able tooperate without adjustment or service regardless of environmentalconditions. Such a combination of different power sources, incombination with power optimization methods and techniques, providesyears of operation without maintenance associated with more conventionalpower sources including a single power supply such as only the battery264.

Generally, as a railroad car 104 is being detected, the detecting node202 utilizing one or more of the power sources in the power supply 262,communicates that information multiple times to multiple neighboringnodes 202, which together use a mesh network routing algorithm to “push”accumulated detection event data towards a Concentrator 208, 210, 212where it may delivered in real time to the Master Processor 214 wheredetections and mechanical disturbances from a multiplicity of points isprocessed to yield real-time presence and speed information.

The battery power supply 264 may be a commercially available, long life,sealed-source, but from which energy is delivered only when necessary.That is, limited use of the battery power supply 264 is desired as oncethe battery is depleted, a maintenance event is generally necessary toreplace it for full operation of the sensor node 202. The battery powersupply 264 may also be used to augment other energy harvesting andwireless power beaming in the other power sources described below, withbattery power savings further reduced by the power optimization methodsdescribed below. As one example, the battery power supply 264 may be alithium-based battery that can supply node power for as long as 20 yearswithout requiring replacement when used as contemplated herein. One ofthe primary features associated with system 200 is to reduce, if noteliminate, a dependency on battery power sources that presentmaintenance issues such as replacement or individual adjustment orcleaning for optimal use. In some cases then, the battery power supply264 may be considered optional and need not be included. The batterypower supply 264 may in some embodiments be a rechargeable battery.

The vibration energy harvesting element 266 provides a redundant powersource that may be alternatively used in lieu of or in addition to thebattery power source 264. In a yard application, cars 104 may travel atrelatively low speeds, ranging from near zero to 10 MPH in contemplatedembodiments. The weight of the cars 104, even empty ones, is significantenough that there is considerable vibration imparted to the rail 206 andtie railroad tie 204 structures as a car 104 passes overhead. Theseambient vibrations can be a source of energy that is harvested by thevibration energy source element 266 to one or more sensor nodes 202during car travel that is used to augment or possibly replace theinternal battery source 264. When used in combination with the battery264, the vibration energy source element 266 facilitates an extendedbattery life and minimizes battery replacement events (an undesirablemaintenance event).

The stress energy harvesting element 268 provides another redundantpower source that may be alternatively used in lieu of or in addition tothe battery power source 264. When cars 104, empty or loaded, pass overa wooden tie 204, the tie 204 flexes under the weight of the cars 104.The flexing or bending action of the tie 204 may derive voltage from apiezo-electric generator element and stored in the stress energy sourceelement 268, augmenting primary battery life of the battery 264 orperhaps allowing the battery to be eliminated altogether. Thepiezo-electric element is also utilized as one of a multiplicity ofredundant detection methods as described below.

The pressure energy harvesting element 268 provides another redundantpower source that may be alternatively used in lieu of or in addition tothe battery power source 264. When cars 104, empty or loaded, pass overa tie 204, the rail 206 is pressed downward under the weight of the cars104. This extreme pressure may be converted to an energy spike using apiezo-electric generator element and stored in the pressure energyharvesting element 268. The piezo-electric element is also utilized asone of a multiplicity of redundant detection methods as described below.

An additional method of subsidizing and prolonging internal batteryenergy of the nodes 202 is through a process referred to herein as“Wireless power transfer (WPT) or wireless energy transmission” that isrepresented by the wireless energy harvesting source 272. Using Wi-Fi ormicrowave region energy, power can be radiated and directed to anantenna and tuned charge pump circuit from ambient broadcast signals orlocal data radio system that can also participate in informationtransfer from the sensor nodes 202 associated with a particular tracksegment to a concentrator 208, 210, 212.

The solar energy harvesting element 274 provides another redundant powersource that may be alternatively used in lieu of or in addition to thebattery power source 264. Low profile packaging of the sensor node 202is envisioned whereby the sensor node 202 can be exposed to solar energythrough a hardened, self-cleaning window to augment the internal batterypower source 264.

The at least one other energy storage element 276 represents energystorage elements that may be derived from the other power sources shownin use. For example, a capacitor or supercapacitor in a circuit may becharged from one of the other power sources described, and the energystored may be returned to the circuit when other ones of the powersources are switched off, disconnected, or depleted. Power managementcircuitry may monitor a voltage of each power source represented in thepower supply 262 and selectively utilize them in a prioritized manner toutilize the battery power supply 264 only as a last resort when theother power sources are unable to supply sufficient energy to operatethe sensor node 202. As contemplated, and in view of the number of otherpower sources represented in the sensor node, the battery power supply264 can be expected to be infrequently used, such that when the batterpower supply 264 is itself a long-life element, the sensor node 202 mayoperate for a period measured in decades before the sensor node 202requires maintenance. The plurality of different power sources providesa redundancy and fail-safe operation of the sensor node 202 wherein thesensor node 202 will reliably operate even if one of the power sourcesfails or ceases to operate normally or properly.

While the multitude of different power sources in the supply 262 arebeneficial for the reasons stated, it is understood that in someinstallations the sensor nodes 202 could also be supplied power from anexternal power supply such as a line power supply powering otherrailroad systems and equipment or a higher capacity battery power supplyassociated with an external system or piece of equipment. Such linepower or higher power battery source may be provided in addition to orin lieu of the other power sources described above. If a higher energyor higher capacity power supply is made available, one or more of thesensor node(s) 202 may be configured to provide long range radiocommunication to a remote location as desired. Alternatively, the system200 could be wired in whole or in part instead of being wireless,although wiring of the system 200 may decrease its flexibility andincrease installation costs. It is also noted that in some embodiments,a single power source may be provided instead of a combination of powersources as shown and described, although depending on which type ofpower source is selected for use, installation costs and/or maintenanceissues may result.

In addition to the plurality of power sources described above, poweroptimization schemes and techniques are employed in wireless operationof the sensor node 202 to further reduce power consumption in operation.For example, time division multiple access (TDMA) communication iscontemplated, which is synchronized for ultra-low duty cycle to reducepower consumption of the sensor node 202 in operation.

More specifically, individual tie-mounted sensor nodes 202 maycommunicate with one another or with a Concentrator 208, 210, 212utilizing a Time Synchronized Mesh Protocol (TSMP). This mesh networkingprotocol, based on the IEEE 2.4 GHz 802.15.4 2006 radio standard,includes a Time Slotted Channel Hopping (TSCH) media access layer (MAC).TSCH works by dividing time into ‘slots’, and providing a mechanism tomap timeslots to channels with a pre-assigned hopping sequence.

After joining the network, each sensor node 202 may enter and spend themajority of its time in an ultra-low power sleep mode, communicating ina synchronous manner with the Concentrator 208, 210, 211 and onlyconsuming a few microseconds of power doing so. This very lowcommunication duty cycle minimizes energy consumption from the internalbattery 264 of each sensor node 202 as well as the other energy storageelements represented in FIG. 6 and described above.

As an alternative to TSMP, or in combination with TSMP, ambientbackscatter techniques may be used as an ultra-low power communicationmethod in the system 200. Using carrier signals from a proximatewireless network, Wi-Fi access point Concentrators for example,individual sensor nodes 202 can broadcast information to a Concentratorby harvesting power from the 2.5 GHz or 5 GHz Wi-Fi transmission andutilizing an ultra-low power sensor and processor circuit to switch anantenna between reflecting and non-reflecting states. This permits thedevice to “broadcast” information related to train presence and healthto adjacent nodes or the Concentrator by backscattering the ambient RFenergy.

In a switching yard application, there are periods when no switchingactivity is underway—periods that can last for hours. Through mechanismsthat sense vibration imparted onto the rails 206 by moving cars 104,individual sensor nodes 202 are able to sense when switching activity isabout to begin from hundreds of feet away. During these quiescentperiods, the sensor nodes 202 have the ability to enter a sleep modefrom which they can be awakened once switching activity is about tobegin, providing a considerable internal battery power savings.

If a switching yard “ladder” is due to be out of service for a period oftime due to railroad schedules or to maintenance activities, a sleepmode instruction can be communicated to the sensor nodes 202 to furtherconserve internal battery power.

The sensor node 202 including all the elements described thus far andalso further below, may be packaged in a rugged, low-profile housing 280such that the sensor nodes 202 can be mounted on top of a railroad tie204 supporting the rails 206 in a yard 100 or elsewhere. The housing 280may be provided in a compact modular, hockey puck-size and shape thatcan be easily carried by hand on site as the sensor nodes 202 are beinginstalled. The low profile packaging allows the nodes 202 to beinstalled on railroad ties 204 in an unobtrusive manner that reduces alikelihood of impact or damage during ordinary use of the switch yard orby other railroad operations. The housing 280 may include mountingfeatures to facilitate installation to a railroad tie 204. The housing280 may, for example, be an injection molded housing fabricated from aheavy duty plastic material. Waterproofing and hermetic sealing featuresmay be provided to obtain a weatherproof sensor node 202 that isgenerally impervious to weather conditions and is reliably operable inall seasons.

By communicating engine/car detection events from individual sensornodes 202 to Concentrators 208, 210, 212 and to the Master Processor214, individual car location can be confirmed and tracked throughout theyard 100. This information is then used to inform the yard controlsystem 150 to prevent switch fouling as well as providing speedindication for precise retarder control when needed. Because thetie-mounted sensor nodes 202 are mounted at fixed distances from oneanother, the speed can easily be calculated by tracking the timedifference between successive detections of contiguous nodes, anddividing the fixed difference by the time between the successivedetection. Heading information is likewise determined by the order inwhich contiguous node detections are made. As such, while multiplesensor nodes 202 are preferred to determine heading and speedinformation, when presence detection is only desired the system 202 maybe implemented with as few as one sensor node 202.

Multiple, redundant component and methods of sensing or detecting carpresence are contemplated in each sensor node 202 that are generallyrepresented as detectors 290 in FIG. 6. This permits verification ofdetection events as well as provides various different ways of sensingcars of differing geometries, weights, and materials. It is envisionedthat the magnitude of each different detection method parameter beincluded in each triggered communication from a sensor node 202regarding a sensed car 104. The processor 252 of the sensor node 202,the processor of a concentrator receiving the data message, or aprocessor of the master element 214 may compare the detection (or not)by the different types of detectors to confirm a car presence, determinean error condition, or assess the health of the sensor node 202.

Recognizing that many railroad cars contain sufficient metallic content,the detectors 290 in the sensor node 202 may include an inductor 292 ormagnetometer 294 to sense and detect a railroad car passing overhead thesensor node 202.

Substantial mechanical vibration may not only be used for energyharvesting as described above, but also maybe sensed with a vibrationsensor 296 to detect railroad cars 104 passing over individual sensornodes 202. The vibration sensor 296 may be part of the vibration powerharvesting element 266 described above or may be separately provided.

Another form of vibration, namely the acoustical energy produced by aproximate railroad car 104, generally contains frequencies in knownregions, which may be recognized based on input from an acoustic sensor298. The acoustic signature may also be used as a redundant affirmationof car presence close to a sensor node 202 that may be compared with theoutputs from the other detection elements described.

The substantial bilateral pressure exerted by a car's wheels on thejunction of the rail 206 and the tie 204 that is used for energyharvesting may also be used to sense cars passing over individual nodeswith a pressure sensor 300. The pressure sensor 300 may be part of thepressure harvesting element 270 described above or may be separatelyprovided.

When the wireless Concentrator Power Beaming Signal is utilized asrepresented by the power source 272, any attenuation or loss ofcommunications between the node and the Concentrator, attributable to acar 104 passing over a node sensor node 202, can be used to infer carpresence due to the interference caused by the metallic content of thecar.

As represented by the MIR element 302, a highly precise form ofclose-range microwave region radar called “impulse radar” can also beused to detect a car 104 passing over a sensor node 202. Micro powerImpulse Radar (MIR), as it is known, is a low-cost, low-power method ofsensing objects up to 4-5 meters away. It is anticipated that anupward-facing impulse radar capability be utilized to detect or verifycar presence once one of the other detection subsystems has provided aninitial indication of possible presence.

Similar to MIR, an upward facing ultrasonic component 304 may alsoprovide a redundant or alternative manner of car detection to initiallydetect or verify a car presence determined one of the other detectors.

The solar energy harvesting subsystem 274 can also detect when ambientlight has been masked by the presence of an overhead car. This visiblelight detection method is to be used in conjunction with other forms todetect or to validate detection of a car. The ambient light detector 306can be part of the solar system 274 or may be separately provided asdesired.

The multiple and different types of detection provide redundant anddeterministic train/engine/car detection signals that may be compared toassess operation of the system 200, confirm detection events andidentify error conditions and false detections. It is understood,however, that in certain embodiments each sensor node 202 could includea single type of detector to provide a lower cost system if desired.Additionally, different sensor nodes 202 including different detectorelements could be provided and used in combination if desired. Forexample, a sensor node 202 on one tie 204 may detect engine or carpresence using ambient light detection only, while a sensor node 202 onanother tie may detect engine or car presence using only acousticsensing. Accordingly, systems of varying cost and complexity may beprovided that use different types of detections at different ties ineach sensor node, rather than use all the different types of detectorsat each node.

In contemplated embodiments, each sensor node 202 also communicates adetected car presence and/or health information in a peer-to-peer mannerto another node 202 until a Concentrator 208, 210, 212 receives themessage and is able to pass activity data from each node in a zone tothe Master Processor 214. The health information may include real timeinformation regarding energy storage in the power sources, energy usedby the various power sources, transmission data and informationregarding the number of transmission made and received, errorinformation, etc. As previously mentioned, ultra-low power wireless meshnetworking utilizing Time Synchronized Mesh Protocol (TSMP) may be usedto minimize energy used by each node 202 in order to minimize powerconsumption from the power supply 262 including the various powersources, essentially making the system 200 maintenance-free.

When communicating detection and/or health information, each sensornode's broadcast in its particular transmit time slot is received byseveral other sensor nodes 202 located nearby. Part of the meshnetworking protocol, this network redundancy assures high communicationreliability as well as permitting the system 200 to operate with theloss of one or more nodes. Such Multi-Hop mesh peer-to-peer messagingcan realize self-organizing, and self-healing network operation withredundant signal paths to ensure communication of messages. Protectionzones can be easily expanded by adding nodes, reduced by subtractingnodes, or enhanced by adding or replacing sensor nodes at desiredlocations in the protected area based on real time analysis of thenetwork in operation. The analysis may be facilitated by the healthinformation reported over the network and/or from archived reporting ina system database that facilitates analysis and troubleshooting of thesystem performance after installation.

In order to conserve energy used for communications, it is anticipatedthat radio frequency transmissions that are intended to be peer-to-peerbetween sensor nodes 202 that are located between rails 206 be directedin that manner. By minimizing RF energy directed where no nodes 202 arelocated, further power savings are anticipated.

As mentioned previously, sensor node operation that conserves andprolongs battery life is paramount. Highly power efficient communicationis therefore utilized and battery life is subsidized by multiple otherenergy sources capable of harvesting power from the environment and fromcar movement on the rails 206. As yet another reliability measure,health information packets that are periodically generated andcommunicated from the sensor nodes 202 provide a quantitative measure ofremaining battery energy, permitting any future battery or nodereplacement to be known well in advance.

Because battery power is subsidized by energy derived from numerousother sources as described, how efficiently the overall energy budget isbeing managed by the sensor nodes 202 is also important to consider. Toassess and evaluate these issues, the energy contributed by each ofthese auxiliary power supplies and associated subsystems is provided inthe periodic health reports to facilitate any necessary physicaloptimization adjustments of the sensor nodes 202. For example,sub-optimal health reports in these aspects could indicate an improperor inadvisable mounting of a sensor node that if corrected may improvethe results.

Optionally, health information may be made available in eachtransmission from a sensor node 202 that indicates how efficiently thedata has been passed from node-to-node within the mesh networkingprotocol. Hop-count and other network metrics allow mesh routingparameters to be adjusted and optimized for improved results. Alsoavailable through such metrics is an indication regarding any lost orunresponsive nodes.

As noted previously, sensor nodes 202 are intended to be mounted to thetie structures 204 and also are intended to operate unattended for yearswith little or no maintenance. It is typical however, that sensor nodes202 or the system 200 generally may require program upgrades to addfeatures or to improve performance over time. To facilitatereprogramming of the sensor nodes 202 the Concentrator(s) may be used towirelessly communicate settings and firmware updates to a collection ofsensor nodes 202 using the ultra-low power information transfertechniques described in the foregoing. As such, the sensor nodes 202 maybe conveniently updated with over-the-air programming updates whendesired.

Alternatively, a proximity form of updating firmware may be used throughthe same inductive subsystem that assists in car detection in certainembodiments. For example, a portable wand device held in close proximityto a sensor node 202 can both power the device as well as transfer largeamounts of information (for example, firmware updates) without requiringthat the sensor node 202 be opened or removed from its mountinglocation.

While exemplary applications are described above for the system 200including the sensor nodes 202, the self-powered, energy harvesting,battery-less dependent train detection system also has railroadapplications outside of those mentioned above. For instance, detectionheading and speed of trains on main line corridors can be used as atrack circuit alternative for activating crossing warning systems andfor advanced preemption of highway traffic signals adjacent tocrossings. Such a system may also be used for detecting trains oncrossing islands as an alternative to shunt systems, and for detectingthe end of trains (used in conjunction with Positive Train Control (PTC)or wireless crossing activation).

The systems described herein may also provide input to IntelligentTransportation System (ITS) equipment for use apart from railroad entityoperators. For example, train detection, speed, and head informationcould be output from the system 200 to facilitate (ITS) warnings,navigation decisions, and route selection decisions using globalpositioning guidance devices and the like to enhance driver safety andconvenience for operators of automotive vehicles travelling on roadwaysimpacted by the train.

The system 200 may be installed at relatively low cost with minimaldisturbance to railroad operations. Sections of tracks and protectionzones may easily be defined and the system 200 may be installed in aretrofit manner to existing railroad tracks either as a stand-alonesystem or as a complementary system to other conventional traindetection systems and equipment.

Having now described the devices and functionality of the sensor system,as well as the systems contemplated for use in combination with thesensor system, it is believed that programming or otherwise configuringthe processor-based devices described to effect the purposes andbenefits is disclosed is within the purview of those in the art withoutfurther explanation. The method aspects and processes described may beimplemented in flow charts and algorithms that are further believed tobe within the skill in the art in view of the detailed descriptionabove.

The benefits and advantages of the system 200 are now believed to beenamply demonstrated in relation to the exemplary embodiments disclosed.

A system for detecting location, speed and heading information of amoving object in a predefined protected area has been disclosed. Thesystem includes a plurality of processor-based sensor node devicesarranged in spaced relation to one another to establish the predefinedprotected area. Each of the plurality of processor-based sensor nodedevices includes at least one detection element configured to sense atleast one of the location, speed and heading of the moving object withinthe predefined protected area. At least one concentrator node device isin communication with each of the plurality of processor-based sensornode devices when the moving object is within the predefined protectedarea.

Optionally, each of the plurality of processor-based sensor node devicesincludes a radio transmitter establishing wireless communication withthe at least one concentrator node device. Each of the plurality ofprocessor-based sensor node devices may also include a plurality ofdifferent detection elements configured to sense an aspect of thelocation, speed and heading of the moving object. The plurality ofdifferent detection elements may be selected from the group of: aninductor element, a magnetometer, a vibration sensor, an acousticsensor, a pressure sensor, a wireless power element, a micro powerimpulse radar element, and ultrasonic detection element, and an ambientlight sensor element.

Each of the plurality of processor-based sensor node devices may includean onboard power supply, the onboard power supply including a pluralityof independently operable power supplies of different types. Theplurality of independently operable power supplies of different typesmay be selected from the group of: a battery power supply, a vibrationenergy harvesting element, a stress energy harvesting element, apressure harvesting element, a wireless power harvesting element, and asolar assisted power element. Each of the plurality of processor-basedsensor node devices may be configured to enter a lower power sleep modewhen a moving object is not present in the predefined protected area.

The predefined protected area for the system may be at least one sectionof a railroad track, and the plurality of processor-based sensor nodedevices may be mountable to at least some of the railroad ties in thesection of railroad track. The detected object in the system may be oneof a railroad car, a string of railroad cars, or a locomotive engine.The predefined protected area may be one of a portion of aclassification yard, a portion of a pull-out track, a diamond crossover,a portion of a switched track arrangement, or an intersection of arailroad track and a roadway.

The plurality of processor-based sensor node devices may be configuredto communicate with one another using near-field mesh network wirelesscommunication with synchronized time division multiplexing. Theplurality of processor-based sensor node devices may be configured tobroadcast health information. The at least one concentrator node devicemay be configured to provide wireless power transfer to the plurality ofprocessor-based sensor node devices. The plurality of processor-basedsensor node devices may be configured to detect at least one of a sizeand weight of the moving object.

The system may additionally include a master processor device incommunication with the at least one concentrator node device, and arailroad yard control system in communication with the at least oneconcentrator node device. A first plurality of processor-based sensornode devices is arranged in spaced relation to one another to establisha first predefined protected area, and a second plurality ofprocessor-based sensor node devices is arranged in spaced relation toone another to establish a second predefined protected area. The firstpredefined protected area may corresponds to an intersection of aconnector track and a first classification track in a railroadswitchyard, and the second predefined protected area may correspond toan intersection of the connector track and a second classification trackin the railroad switchyard.

Each of the plurality of processor-based sensor node devices may includeredundant power supply elements including at least one battery, andpower management circuitry prioritizing power management of theredundant power supply elements to limit the use of battery power andconserve battery power as long as possible. Each of the plurality ofprocessor-based sensor node devices are configured to periodicallycommunicate a quantitative measure of remaining battery energy.

This written description uses examples to disclose the invention,including the best mode, and also to enable any person skilled in theart to practice the invention, including making and using any devices orsystems and performing any incorporated methods. The patentable scope ofthe invention is defined by the claims, and may include other examplesthat occur to those skilled in the art. Such other examples are intendedto be within the scope of the claims if they have structural elementsthat do not differ from the literal language of the claims, or if theyinclude equivalent structural elements with insubstantial differencesfrom the literal languages of the claims.

1-21. (canceled)
 22. A railroad detection system comprising: a pluralityof processor-based sensor node devices arranged in spaced relation toone another to establish a predefined protected area including at leastone section of a railroad track, the plurality of processor-based sensornode devices in combination defining a wireless mesh network; whereineach of the plurality of processor-based sensor node devices includes:at least one detection element configured to sense a presence of arailroad car, a string of railroad cars, or a locomotive engine on theat least one section of the railroad track in the predefined protectedarea without utilizing a track circuit, an inductive loop, a radarsystem, or a wheel counter; and a short range radio transmittercommunicating a sensed presence of the railroad car, the string ofrailroad cars, or the locomotive engine to other ones of the pluralityof processor-based sensor node devices in the wireless mesh network; atleast one concentrator node device in communication with the pluralityof processor-based sensor node devices and collecting sensed presenceinformation from a group of the plurality of processor-based sensor nodedevices, wherein the speed and heading of the railroad car, the stringof railroad cars, or the locomotive engine are derivable from thecollected sensed presence information.
 23. The railroad detection systemof claim 22, wherein the at least one section of the railroad trackincludes a series of railroad ties, wherein the plurality ofprocessor-based sensor node devices are mountable to at least some ofthe railroad ties.
 24. The railroad detection system of claim 22,wherein the at least one section of the railroad track and thepredefined protected area is established in a portion of a railroadclassification yard, a portion of a railroad pull-out track, a railroaddiamond crossover, a portion of a switched track railroad arrangement,or an intersection of a railroad track and a roadway.
 25. The railroaddetection system of claim 22, wherein each of the plurality ofprocessor-based sensor node devices includes a plurality of differentdetection elements respectively configured to sense different aspects ofthe presence of the railroad car, the string of railroad cars, or thelocomotive engine in the predefined protected area.
 26. The railroaddetection system of claim 25, wherein the plurality of differentdetection elements are selected from the group of: an inductor element,a magnetometer, a vibration sensor, an acoustic sensor, a pressuresensor, a wireless power element, a micro power impulse radar element,and ultrasonic detection element, and an ambient light sensor element.27. The railroad detection system of claim 22, wherein each of theplurality of processor-based sensor node devices includes a plurality ofindependently operable power supplies of different types.
 28. Therailroad detection system of claim 27, wherein the plurality ofindependently operable power supplies of different types are selectedfrom the group of: a battery power supply, a vibration energy harvestingelement, a stress energy harvesting element, a pressure harvestingelement, a wireless power harvesting element, and a solar assisted powerelement.
 29. The railroad detection system of claim 22, wherein each ofthe plurality of processor-based sensor node devices is configured toenter a lower power sleep mode when the railroad car, the string ofrailroad cars, or the locomotive engine is not present in the predefinedprotected area.
 30. The railroad detection system of claim 22, whereineach of the plurality of processor-based sensor node devices isconfigured to communicate with one another using near-field mesh networkwireless communication with synchronized time division multiplexing. 31.The railroad detection system of claim 22, wherein the plurality ofprocessor-based sensor node devices are each configured to broadcasthealth information.
 32. The railroad detection system of claim 22,wherein the at least one concentrator node device is configured toprovide wireless power transfer to the plurality of processor-basedsensor node devices.
 33. The railroad detection system of claim 22,wherein the plurality of processor-based sensor node devices areconfigured to detect a size or weight of the railroad car, the string ofrailroad cars, or the locomotive engine.
 34. The railroad detectionsystem of claim 22, further comprising a master processor device incommunication with the at least one concentrator node device, the masterprocessor device determining location, speed and heading information forthe railroad car, the string of railroad cars, or the locomotive enginefrom the collected sensed presence information.
 35. The railroaddetection system of claim 22, wherein each of the plurality ofprocessor-based sensor node devices includes redundant power supplyelements including at least one battery, and power management circuitryprioritizing power management of the redundant power supply elements tolimit the use of battery power and conserve battery power.
 36. Therailroad detection system of claim 35, wherein each of the plurality ofprocessor-based sensor node devices are configured to periodicallycommunicate a quantitative measure of remaining battery energy over thewireless mesh network.
 37. A system for detecting location, speed, andheading information of a railroad car, a string of railroad cars, or alocomotive engine to prevent clipping of a portion of trains on closeproximity railroad tracks including opposed rails supported by a seriesof railroad ties, the system comprising: a plurality of processor-basedsensor node devices arranged in spaced relation to one another along apath of travel on each of the close proximity railroad tracks and incombination defining a wireless mesh network, the plurality ofprocessor-based sensor node devices collectively defining predefinedprotected areas presenting a risk of clipping of a portion of a train,each of the plurality of processor-based sensor node devices includingat least one detection element operable to consecutively sense apresence of the railroad car, the string of railroad cars, or thelocomotive engine as it progressively moves through the predefinedprotected areas; and at least one concentrator node device incommunication with the plurality of processor-based sensor node devicesand receiving sensed presence information from the plurality ofprocessor-based sensor node devices in the predefined protected areas;and at least one processor configured to: determine location, speed andheading information of the railroad car, the string of railroad cars, orthe locomotive engine based upon the received sensed presenceinformation received by the at least one concentrator node device, andanalyze the location, speed and heading information of the railroad car,the string of railroad cars, or the locomotive engine in order to avoidimpinging of the railroad car, the string of railroad cars, or thelocomotive engine that is moving through the predefined protected areason the respective close proximity railroad tracks.
 38. The system ofclaim 37, wherein the close proximity railroad tracks define a portionof a railroad classification yard, a portion of a pull-out track, adiamond crossover, or a portion of a switched track arrangement.
 39. Thesystem of claim 37, wherein the plurality of processor-based sensor nodedevices include at least one detection element configured to sense apresence of the railroad car, the string of railroad cars, or thelocomotive engine locomotive engine without utilizing a track circuit,an inductive loop, a radar system, or a wheel counter.
 40. A system fordetecting location, speed, and heading information of a railroad car, astring of railroad cars, or a locomotive engine to prevent switchfouling in close proximity railroad tracks selectively including opposedrails supported by a series of railroad ties and selectively connectedby a railroad switch, the system comprising: a first plurality ofprocessor-based sensor node devices arranged in spaced relation to oneanother and in combination defining a wireless mesh network along theclose proximity railroad tracks and at least one predefined protectedarea including the railroad switch, each of the plurality ofprocessor-based sensor node devices including at least one detectionelement individually operable to consecutively sense a presence of therailroad car, the string of railroad cars, or the locomotive engine asit progressively moves through the predefined protected area; at leastone concentrator node device in communication with the first pluralityof processor-based sensor node devices and receiving detectioninformation therefrom; and at least one processor analyzing explicit andimplicit detection information to determine location, speed, and headingof the railroad car, the string of railroad cars, or the locomotiveengine for the benefit of a railroad system to avoid operation of therailroad switch before the railroad car, the string of railroad cars, orthe locomotive engine has fully cleared the railroad switch.
 41. Thesystem of claim 40, wherein the railroad switch is included in aconnector track, classification track or a pull-out track in a railroadclassification yard.
 42. The system of claim 40, wherein the at leastone concentrator node device and the first plurality of processor-basedsensor node devices are configured to communicate via ultra-low powercommunication ambient backscattering.
 43. The system of claim 37,wherein the at least one concentrator node device and each of theplurality of processor-based sensor node devices are configured tocommunicate via ultra-low power communication ambient backscattering.44. The railroad detection system of claim 22, wherein the at least oneconcentrator node device and each of the plurality of processor-basedsensor node devices are configured to communicate via ultra-low powercommunication ambient backscattering.